A method, apparatus and electronic device for relative calibration of co-sited receivers

Abstract

The application provides a kind of co-sight receiver relative calibration method, device and electronic equipment, wherein the co-sight receiver relative calibration method includes: zero baseline configuration is carried out to co-sight receiver, and temperature sensor is configured;The temperature sensor is used to record the ambient temperature of the working environment of the co-sight receiver;Calibration result of the co-sight receiver relative calibration is obtained, and the calibration result is filtered and denoised;The correlation function of the calibration result of the co-sight receiver and the ambient temperature of the co-sight receiver is established, and the calibration result is corrected to obtain the target calibration result of the co-sight receiver relative calibration.By the application, the temperature effect of accurately modeling and compensating the hardware delay of receiver effectively reduces the influence of temperature on calibration result, so that the calibration result is more accurate and reliable, which helps to meet the demand of high-precision time-frequency transfer, and solves the problem of poor precision and stability in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of satellite system precise time transfer technology, and in particular to a method and device for relative calibration of co-located receivers and electronic equipment. BACKGROUND

[0002] Global Navigation Satellite System (GNSS) one-way time transfer is the most widely used high-precision time transfer method at present. The principle is to observe the navigation satellite signal by the receiver, to solve the receiver clock error (i.e. the deviation of the local time relative to the GNSS time), and to correct the local clock accordingly, so as to realize high-precision time transfer.

[0003] As a high-precision time comparison technology in GNSS time and frequency transfer, the co-located method effectively eliminates common errors such as satellite clock error, orbit error and atmospheric delay by observing the same satellite signal by two receivers at the same time and using satellite time as an intermediate reference. This method is widely used in national time and frequency reference transfer, international atomic time maintenance and high-precision time synchronization fields. However, the accuracy of the co-located method is significantly affected by the hardware delay of the receiver in practical application.

[0004] Studies have shown that the hardware delay of GNSS receivers changes significantly with environmental temperature fluctuations, which seriously affects the calibration accuracy. The receiver differential code bias (DCB) and differential phase bias (DPB) have been proven to have a high correlation with temperature fluctuations. In addition, the intersystem bias (ISB) between different systems will also be unstable due to temperature changes, further increasing the uncertainty of calibration. Therefore, eliminating the influence of temperature fluctuations on hardware delay is a key technical difficulty in improving the calibration accuracy of the co-located method. Traditional methods usually rely on expensive equipment to maintain a constant temperature environment, but the operation is complex and the cost is high, which is difficult to adapt to the actual dynamic environment requirements.

[0005] There is no effective solution to the problem of poor precision and stability in the prior art. SUMMARY

[0006] The present application provides a co-located receiver relative calibration method, device and electronic equipment to solve the defects of poor precision and stability in the prior art.

[0007] In a first aspect, the present application provides a co-located receiver relative calibration method, comprising:

[0008] The common-view receiver is configured with a zero baseline, and a temperature sensor is configured; the temperature sensor is used to record the ambient temperature of the working environment of the common-view receiver;

[0009] A calibration result of the relative calibration of the common-view receiver is obtained, and the calibration result is filtered and denoised;

[0010] A correlation function of the calibration result of the common-view receiver and the ambient temperature of the common-view receiver is established, and the calibration result is corrected to obtain a target calibration result of the relative calibration of the common-view receiver.

[0011] According to the common-view receiver relative calibration method provided by the application, the common-view receiver is configured with a zero baseline, comprising:

[0012] The common-view receiver and other calibration devices are connected through cables with the same length and material;

[0013] The common-view receiver is clock-synchronized through an external atomic clock.

[0014] According to the common-view receiver relative calibration method provided by the application, a calibration result of the relative calibration of the common-view receiver is obtained, and the calibration result is filtered and denoised, comprising:

[0015] The calibration result of the relative calibration of the common-view receiver is obtained through an inter-station difference method;

[0016] The calibration result is denoised through a low-pass Butterworth filter.

[0017] According to the common-view receiver relative calibration method provided by the application, the calibration result of the relative calibration of the common-view receiver is obtained through an inter-station difference method, comprising:

[0018] The original pseudo-range observation value of the relative calibration of the common-view receiver is obtained;

[0019] A single-difference operator is introduced, and a single-difference equation is constructed in combination with the original pseudo-range observation value;

[0020] The single-difference equation is simplified and converted to obtain the relative calibration pseudo-range hardware delay of the common-view receiver at different frequency points;

[0021] The calibration result is obtained based on the relative calibration pseudo-range hardware delay of the common-view receiver.

[0022] According to the common-view receiver relative calibration method provided by the application, a correlation function of the calibration of the common-view receiver and the ambient temperature of the common-view receiver is established, comprising:

[0023] determine an influence degree of the environmental temperature on the calibration result based on a Pearson correlation coefficient between the calibration result of the relative calibration of the common-view receiver and the environmental temperature;

[0024] fit a functional relationship between the environmental temperature and the hardware delay through a linear regression model;

[0025] correct the calibration result through the fitted temperature compensation model.

[0026] According to the method for relative calibration of a common-view receiver provided by the application, the influence degree of the environmental temperature on the calibration result is determined based on a Pearson correlation coefficient between the calibration result of the relative calibration of the common-view receiver and the environmental temperature, and the method comprises the following steps:

[0027] obtain the Pearson correlation coefficient;

[0028] determine the correlation between the calibration result and the temperature based on the Pearson correlation coefficient in combination with a correlation calculation formula.

[0029] According to the method for relative calibration of a common-view receiver provided by the application, a functional relationship between the environmental temperature and the hardware delay is fitted through a linear regression model, and the method comprises the following steps:

[0030] model and analyze the calibration result with the Pearson correlation coefficient meeting a preset condition through a linear function, and determine a loss function;

[0031] determine a parameter to be solved in the linear function in combination with the loss function, and determine the functional relationship between the environmental temperature and the hardware delay.

[0032] According to the method for relative calibration of a common-view receiver provided by the application, the calibration result is corrected through a fitted temperature compensation model, and the method comprises the following steps:

[0033] obtain a temperature coefficient and a temperature change amount based on the temperature compensation model;

[0034] correct the calibration result in combination with the temperature coefficient and the temperature change amount, and obtain the target calibration result.

[0035] In a second aspect, the application further provides a device for relative calibration of a common-view receiver, which comprises:

[0036] a configuration module, configured to perform zero baseline configuration on the common-view receiver, and configured to configure a temperature sensor; the temperature sensor is configured to record an environmental temperature of a working environment of the common-view receiver;

[0037] a processing module, configured to obtain a calibration result of relative calibration of the common-view receiver, and configured to perform filtering and noise reduction processing on the calibration result;

[0038] A correction module is configured to establish a correlation function between the calibration result of the co-located receiver and the ambient temperature of the co-located receiver, and correct the calibration result to obtain a target calibration result of the relative calibration of the co-located receiver.

[0039] In a third aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for relative calibration of a co-located receiver according to the first aspect.

[0040] In a fourth aspect, the present application provides a non-transitory computer-readable storage medium, which stores a computer program executable on a processor to implement the method for relative calibration of a co-located receiver according to the first aspect.

[0041] In a fifth aspect, the present application provides a computer program product, which comprises a computer program executable on a processor to implement the method for relative calibration of a co-located receiver according to the first aspect.

[0042] Compared with the prior art, the present application has the following beneficial effects:

[0043] The method for relative calibration of a co-located receiver provided by the present application effectively reduces the influence of temperature on the calibration result by introducing a temperature compensation mechanism, accurately modeling and compensating the temperature effect of the hardware delay of the receiver, which improves the accuracy and reliability of the calibration result, and helps to meet the demand for high-precision time and frequency transfer. Through the above process, the stability and reliability of the calibration result are also enhanced, and the influence of temperature changes on the calibration result, which cannot be completely eliminated by the traditional method for relative calibration of a co-located receiver, is reduced, the long-term stability of GNSS time and frequency transfer is improved, and the problems of poor precision and stability in the existing related technologies are solved. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0045] Figure 1 is a flowchart of the method for relative calibration of a co-located receiver provided by the present application;

[0046] Figure 2 is a process schematic diagram of the relative calibration in the embodiment of the present application;

[0047] Figure 3is a schematic diagram of a temperature compensation relative calibration setting of a co-located receiver in an embodiment of the present application;

[0048] Figure 4 is a structural block diagram of a co-located receiver relative calibration device provided by the present application;

[0049] Figure 5 is a structural schematic diagram of an electronic device provided by the present application. DETAILED DESCRIPTION

[0050] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0051] The present application provides a co-located receiver relative calibration method, Figure 1 is a flow chart of a co-located receiver relative calibration method provided by the present application, as shown in the figure, the method comprises the following steps: Figure 1

[0052] Step S101, zero baseline configuration is performed on the co-located receiver, and a temperature sensor is configured; the temperature sensor is used for recording the ambient temperature of the working environment of the co-located receiver;

[0053] Step S102, the calibration result of the co-located receiver relative calibration is obtained, and the calibration result is subjected to filtering and noise reduction processing;

[0054] Step S103, a correlation function of the calibration result of the co-located receiver and the ambient temperature of the co-located receiver is established, and the calibration result is corrected to obtain the target calibration result of the co-located receiver relative calibration.

[0055] ​In the method, first, the zero baseline configuration is performed on the common view receiver, the signal transmission path is ensured to be consistent, and the influence of the temperature effect of the cable and other hardware on the calibration result is eliminated. A temperature sensor is configured to record the environmental temperature in real time, and the subsequent temperature compensation modeling provides basic data. Then, the calibration result of the common view receiver relative calibration is obtained, and the calibration result is filtered and denoised to improve the data quality. Finally, the correlation function relationship between the calibration result of the common view receiver and the environmental temperature is established, and the calibration result is corrected to reduce the influence of temperature fluctuation on the calibration result. In the above process, the temperature compensation mechanism is introduced, the temperature effect of the receiver hardware delay is effectively reduced through accurate modeling and compensation, which improves the calibration result and makes it more accurate and reliable, and helps to meet the demand of high-precision time and frequency transfer. Through the above process, the stability and reliability of the calibration result are also enhanced, the influence of temperature change on the calibration result cannot be completely eliminated by the traditional common view receiver relative calibration method, the long-term stability of GNSS time and frequency transfer is improved, and the problems of poor precision and stability in the existing related technologies are solved. In addition, compared with the traditional method, the method does not need additional expensive equipment to keep the temperature of the receiver constant, but eliminates the influence of temperature through modeling and compensation, which greatly reduces the calibration cost.

[0056] Figure 2 is a process diagram for relative calibration in the embodiment of the application, as Figure 2 shown, in some embodiments, step S101, the zero baseline configuration is performed on the common view receiver, including: connecting the common view receiver and other calibration devices through cables with the same length and material to make the common view receiver signal input consistent; and synchronizing the clock of the common view receiver through an external atomic clock to make the data acquisition and synchronization consistent. Through the above configuration, the high consistency and environmental controllability of the common view receiver hardware delay calibration can be ensured, and reliable basis is provided for the subsequent acquisition of calibration result and temperature compensation.

[0057] Exemplary, Figure 3 is a schematic diagram of the temperature compensation common view receiver relative calibration setting in the embodiment of the application, as Figure 3 shown, taking two common view receivers as an example, the two common view receivers share the same antenna, and the antenna, PC and time interval counter (SR620) are connected through cables with the same length and material to ensure the consistency of the signal transmission path and eliminate the influence of the temperature effect of the cable and other hardware on the calibration result. An external atomic clock is used to realize the clock synchronization of the receiver to avoid the interference of the receiver clock difference on the calibration result.

[0058] In some embodiments, the step S102 of obtaining the calibration result of the relative calibration of the common-view receiver and filtering and denoising the calibration result comprises: eliminating the influence of the ionospheric delay, the tropospheric delay and other propagation errors on the calibration result by the inter-station difference method to obtain the calibration result of the relative calibration of the common-view receiver; and reducing the high-frequency noise interference in the pseudo-range observation and improving the smoothness of the calibration data by denoising the calibration result through a low-pass Butterworth filter.

[0059] Specifically, the calibration result of the relative calibration of the common-view receiver is obtained by the inter-station difference method, comprising: obtaining the original pseudo-range observation value of the relative calibration of the common-view receiver; introducing a single-difference operator, and constructing a single-difference equation combined with the original pseudo-range observation value; simplifying and converting the single-difference equation to obtain the common-view receiver relative calibration pseudo-range hardware delay at different frequencies; and obtaining the calibration result based on the common-view receiver relative calibration pseudo-range hardware delay.

[0060] Exemplarily, the original pseudo-range observation value of the relative calibration of the common-view receiver is as follows:

[0061]

[0062] wherein, represents the original pseudo-range observation value, the unit is meter, r represents the station number, s represents the satellite number, and i represents the satellite frequency number, represents the receiver pseudo-range hardware delay, represents the satellite pseudo-range hardware delay, represents the satellite-earth geometric distance, represents the satellite clock error, represents the receiver clock error, represents the ionospheric delay, represents the tropospheric delay, represents the random error of the pseudo-range observation value.

[0063] Assuming that there are two stations A and B common-view receivers, a single-difference operator is introduced to construct a single-difference equation, as follows:

[0064]

[0065] wherein, represents the single-difference pseudo-range observation value, the unit is meter, represents the single-difference satellite-earth geometric distance, represents the single-difference receiver clock error, represents the single-difference receiver pseudo-range hardware delay, and represent the single-difference ionospheric delay and the single-difference tropospheric delay, respectively, represents the random error of the single-difference pseudo-range observation value.

[0066] Through the above baseline experiment configuration, the receiver clock difference and the errors of the antenna, cable and the like affected by temperature can be well eliminated, and the above formula can be simplified as:

[0067]

[0068] wherein, represents the hardware delay of the pseudorange of the common view receiver. The above formula is converted to obtain:

[0069]

[0070] Through the above formula, the relative calibration hardware delay of the pseudorange of the common view receiver at different frequencies can be obtained. The difference between the hardware delays of the two receivers obtained by the relative calibration of the common view receiver can be represented as:

[0071]

[0072] wherein, Reference Point Delay represents the delay from the reference point of the clock signal of the receiver to the internal reference point of the receiver, represents the difference between the transmission delays of the clock signals of the two receivers (A and B), represents the difference between the internal delays of the clock signals of the two receivers (A and B). The above formula is simplified to obtain the final calibration result , as shown in the following formula:

[0073]

[0074] wherein, represents the calibration result, represents the difference between the hardware delays of the pseudorange signals.

[0075] The noise of the original relative calibration result of the common view receiver is reduced by low-pass filtering, specifically including: the relative calibration of the common view receiver is affected by the pseudorange observation noise, resulting in many glitches in the calibration result. These glitches are eliminated by the low-pass filtering method, so that a more accurate calibration result is obtained. The filter is a low-pass Butterworth filter. The transfer function of the filter can be represented as:

[0076]

[0077] wherein, is the transfer function of the filter, represents the Nth power of the complex frequency domain variable s, N represents the order of the filter, represents the coefficient of the term in the filter transfer function.

[0078] In some embodiments, the step S103 of establishing the correlation function of the common-view receiver calibration result and the common-view receiver ambient temperature comprises: determining the influence degree of the ambient temperature on the calibration result based on the Pearson correlation coefficient of the calibration result of the common-view receiver relative calibration and the ambient temperature; fitting a function relationship between the ambient temperature and the hardware delay through a linear regression model, the function relationship being used to predict and compensate the hardware delay variation at different temperatures; and correcting the calibration result through the fitted temperature compensation model to reduce the influence of temperature fluctuation on the calibration result.

[0079] Specifically, the step of determining the influence degree of the ambient temperature on the calibration result based on the Pearson correlation coefficient of the calibration result and the ambient temperature comprises: obtaining the Pearson correlation coefficient; and determining the correlation between the calibration result and the temperature based on the Pearson correlation coefficient in combination with a correlation calculation formula.

[0080] Correspondingly, the step of fitting a function relationship between the ambient temperature and the hardware delay through a linear regression model comprises: modeling and analyzing the calibration result with the Pearson correlation coefficient meeting a preset condition through a linear function, and determining a loss function; and determining a parameter to be solved in the linear function in combination with the loss function to determine the function relationship between the ambient temperature and the hardware delay.

[0081] On this basis, the step of correcting the calibration result through the fitted temperature compensation model comprises: obtaining a temperature coefficient and a temperature variation based on the temperature compensation model; and correcting the calibration result in combination with the temperature coefficient and the temperature variation to obtain a target calibration result.

[0082] For example, the correlation between the ambient temperature and the calibration result is obtained through a correlation calculation formula. The correlation between the two is represented by a Pearson correlation coefficient, and the expression is as follows:

[0083]

[0084] wherein, represents a sequence to be solved for correlation; respectively represents a standard deviation of the sequence; respectively represents a mean value of the sequence to be solved for; represents a Pearson correlation coefficient.

[0085] For the result with a correlation coefficient absolute value greater than 0.7, it can be considered that the two are strongly correlated, and a linear regression of a linear function can be used for modeling analysis. The linear function can be simply expressed as:

[0086]

[0087] wherein, respectively, are parameters to be solved. For linear regression, the commonly used loss function is the square of the predicted value and the true value, as shown in the following formula:

[0088]

[0089] wherein, represents a loss function, respectively, represent a predicted value and a true value, represents the length of a sequence. The linear regression value can be represented as:

[0090]

[0091] wherein, represents a loss function is minimized. The partial derivative of the above formula can be obtained as:

[0092]

[0093] The above formula can be simplified as:

[0094]

[0095] When the value of the above formula is zero, the parameter to be solved of the linear function can be represented as:

[0096]

[0097] wherein, s represents a corrected receiver hardware delay signal, represents a Pearson correlation coefficient of the receiver hardware delay and the temperature.

[0098] The receiver hardware delay temperature correlation coefficient is fitted according to the ambient temperature and the mutual viewing relative calibration result, and a receiver hardware delay prediction function relationship is obtained. The calibration result is corrected by using the fitted temperature compensation model, and the correction result can be represented as:

[0099]

[0100] wherein, D represents a calibration result / target calibration result, k represents a temperature coefficient, and T represents a temperature change amount.

[0101] The application further provides a mutual viewing receiver relative calibration device, and the mutual viewing receiver relative calibration device provided by the application is described as follows. The mutual viewing receiver relative calibration device described below can be correspondingly referred to the mutual viewing receiver relative calibration method described above. Figure 4 is a structural block diagram of the mutual viewing receiver relative calibration device provided by the application, as shown in Figure 4As shown, the device comprises:

[0102] The configuration module 401 is configured to perform zero baseline configuration on the common view receiver and configure a temperature sensor; the temperature sensor is configured to record the ambient temperature of the working environment of the common view receiver;

[0103] The processing module 402 is configured to obtain the calibration result of the relative calibration of the common view receiver and perform filtering and noise reduction processing on the calibration result;

[0104] The correction module 403 is configured to establish a correlation function between the calibration result of the common view receiver and the ambient temperature of the common view receiver, and correct the calibration result to obtain the target calibration result of the relative calibration of the common view receiver.

[0105] In use, first, the configuration module 401 performs zero baseline configuration on the common view receiver to ensure consistent signal transmission path and eliminate the influence of hardware temperature effects such as cables on the calibration result. And configure the temperature sensor to record the ambient temperature in real time, provide basic data for subsequent temperature compensation modeling. Then, the processing module 402 obtains the calibration result of the relative calibration of the common view receiver and performs filtering and noise reduction processing on the calibration result to improve data quality. Finally, the correction module 403 establishes a correlation function between the calibration result of the common view receiver and the ambient temperature, and corrects the calibration result to reduce the influence of temperature fluctuations on the calibration result. In the above process, the temperature compensation mechanism is introduced, and the influence of temperature on the calibration result is effectively reduced by accurately modeling and compensating the temperature effect of the receiver hardware delay. This improvement makes the calibration result more accurate and reliable, which helps to meet the demand of high-precision time and frequency transfer. Through the above process, the stability and reliability of the calibration result can be enhanced, and the influence of temperature change on the calibration result cannot be completely eliminated by the traditional common view receiver relative calibration method, which improves the long-term stability of GNSS time and frequency transfer, and solves the problem of poor precision and stability in the existing related technology. In addition, compared with the traditional method, the device does not need additional expensive equipment to keep the temperature of the receiver constant, but eliminates the influence of temperature through modeling and compensation, greatly reducing the calibration cost.

[0106] Figure 5 An example of an electronic device entity structure diagram is shown in Figure 5 As shown, the electronic device can include a processor 501, a communications interface 502, a memory 503, and a communications bus 504, wherein the processor 501, the communications interface 502, and the memory 503 communicate with each other through the communications bus 504. The processor 501 can invoke the logic instructions in the memory 503 to execute the common view receiver relative calibration method, which comprises:

[0107] The common-view receiver is configured with a zero baseline, and a temperature sensor is configured; the temperature sensor is used to record the ambient temperature of the working environment of the common-view receiver;

[0108] A calibration result of the relative calibration of the common-view receiver is obtained, and the calibration result is filtered and denoised;

[0109] A correlation function of the calibration result of the common-view receiver and the ambient temperature of the common-view receiver is established, and the calibration result is corrected to obtain a target calibration result of the relative calibration of the common-view receiver.

[0110] In addition, the logical instructions in the memory 503 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0111] On the other hand, the present application also provides a computer program product, the computer program product comprising a computer program, the computer program being stored on a non-transitory computer readable storage medium, and the computer program being executable by a processor, so that the computer can execute the common-view receiver relative calibration method provided by the above-mentioned methods, and the method comprises:

[0112] The common-view receiver is configured with a zero baseline, and a temperature sensor is configured; the temperature sensor is used to record the ambient temperature of the working environment of the common-view receiver;

[0113] A calibration result of the relative calibration of the common-view receiver is obtained, and the calibration result is filtered and denoised;

[0114] A correlation function of the calibration result of the common-view receiver and the ambient temperature of the common-view receiver is established, and the calibration result is corrected to obtain a target calibration result of the relative calibration of the common-view receiver.

[0115] On the other hand, the present application also provides a computer program product, the computer program product comprising a computer program, the computer program being stored on a non-transitory computer readable storage medium, and the computer program being executable by a processor, so that the computer can execute the common-view receiver relative calibration method provided by the above-mentioned methods, and the method comprises:

[0116] The co-visibility receiver is configured with a zero baseline, and a temperature sensor is configured; the temperature sensor is used to record the ambient temperature of the working environment of the co-visibility receiver;

[0117] The calibration result of the relative calibration of the co-visibility receiver is obtained, and the calibration result is filtered and denoised;

[0118] The correlation function of the calibration result of the co-visibility receiver and the ambient temperature of the co-visibility receiver is established, and the calibration result is corrected to obtain the target calibration result of the relative calibration of the co-visibility receiver.

[0119] The device embodiments described above are only schematic, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0120] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software and the necessary general hardware platform, and of course, it can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of software products, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the method described in each embodiment or some parts of the embodiment.

[0121] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of relative calibration of co-located receivers, characterized by, The method comprises the following steps: zero baseline configuration of the common view receiver, and configuration of a temperature sensor; the temperature sensor is used to record the ambient temperature of the working environment of the common view receiver; obtaining the calibration result of the relative calibration of the common view receiver, and performing filtering and noise reduction processing on the calibration result; the calibration result is the difference between the hardware delays of the pseudo-range signals; establishing a correlation function between the calibration result of the common view receiver and the ambient temperature of the common view receiver, and correcting the calibration result to obtain the target calibration result of the relative calibration of the common view receiver; establishing a correlation function between the calibration result of the common view receiver and the ambient temperature of the common view receiver, comprising: determining the influence degree of the ambient temperature on the calibration result based on the Pearson correlation coefficient between the calibration result of the relative calibration of the common view receiver and the ambient temperature; fitting a functional relationship between the ambient temperature and the hardware delay through a linear regression model, which is used to predict and compensate the hardware delay change under different temperatures; correcting the calibration result through the fitted temperature compensation model; correcting the calibration result through the fitted temperature compensation model, comprising: obtaining the temperature coefficient and the temperature change amount based on the temperature compensation model; combining the temperature coefficient and the temperature change amount to correct the calibration result to obtain the target calibration result.

2. The method of relative calibration of co-located receivers according to claim 1, characterized in that, zero baseline configuration of the common view receiver, comprising: connecting the common view receiver and other calibration equipment through cables with the same length and material; synchronizing the clock of the common view receiver through an external atomic clock.

3. The method of relative calibration of co-located receivers of claim 1, wherein, obtaining the calibration result of the relative calibration of the common view receiver, and performing filtering and noise reduction processing on the calibration result, comprising: obtaining the calibration result of the relative calibration of the common view receiver through inter-station difference method; performing noise reduction processing on the calibration result through a low-pass Butterworth filter.

4. The method of relative calibration of co-located receivers according to claim 3, characterized in that, obtaining the calibration result of the relative calibration of the common view receiver through inter-station difference method, comprising: obtaining the original pseudo-range observation value of the relative calibration of the common view receiver; introducing a single-difference operator, and constructing a single-difference equation based on the original pseudo-range observation value; simplifying and converting the single-difference equation to obtain the relative calibration pseudo-range hardware delay of the common view receiver at different frequencies; obtaining the calibration result based on the relative calibration pseudo-range hardware delay of the common view receiver.

5. The method of relative calibration of co-located receivers of claim 1, wherein, determining the influence degree of the ambient temperature on the calibration result based on the Pearson correlation coefficient between the calibration result of the relative calibration of the common view receiver and the ambient temperature, comprising: obtaining the Pearson correlation coefficient; determining the correlation between the calibration result and the temperature based on the Pearson correlation coefficient by combining the correlation calculation formula.

6. The method of relative calibration of co-located receivers of claim 1, wherein, fitting a functional relationship between the ambient temperature and the hardware delay through a linear regression model, comprising: modeling and analyzing the calibration result whose Pearson correlation coefficient meets a preset condition through a linear function, and determining a loss function; determining the to-be-solved parameter in the linear function based on the loss function, and determining the functional relationship between the ambient temperature and the hardware delay.

7. A device for relative co-location receiver calibration for implementing the method of any one of claims 1 to 6, characterized in that, The method comprises the following steps: a configuration module is configured to zero baseline configure the common view receiver, and configure a temperature sensor; the temperature sensor is used to record the ambient temperature of the working environment of the common view receiver; a processing module, configured to acquire a calibration result of the relative calibration of the common-view receiver, and to perform filtering and noise reduction on the calibration result; a correction module, configured to establish a correlation function between the calibration result of the common-view receiver and an ambient temperature of the common-view receiver, and to correct the calibration result to obtain a target calibration result of the relative calibration of the common-view receiver.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the method for the relative calibration of the common-view receiver according to any one of claims 1 to 6 when executing the program.

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